岩田 洋夫

This paper introduces Art Sensorium Project that is founded in Asia AI Institute of Musashino University. A main target of the project is to design and implement a system architecture of unified art collections for virtual art experiences. To provide art experiences, a projection-based VR system, called Data Sensorium, is used to stage art materials in a form of real-sized virtual reality. Furthermore, a system architecture of a multidatabase system for heterogeneous art collection archives is presented, so a set of integrated art data is applied to Data Sensorium for newly generated art experiences.

When presented with asymmetric vibrations, humans experience an illusory force, similar to the sensation of being pulled in a particular direction. A pulling illusion has also been used in new display elements for a virtual reality content and a pedestrian navigation system. However, the basic design of asymmetric vibration stimuli that can induce this illusion has not yet been determined. In particular, it is unclear as to which part of the vibration waveform should be asymmetric to induce an illusion. To better understand the design of asymmetric vibration stimuli that can induce a pulling illusion, we evaluated the effect of the illusion corresponding to the waveform deformation due to a change in phase difference of asymmetric-vibration frequency components. The results of a psychophysical experiment demonstrate that when the phase differences of the fundamental and second harmonic waves of the asymmetric vibration are close to 0 degrees or -180 degrees, the illusion is more likely to occur. This result implies that the difference in the rate by which the acceleration changes at each polarity contributes to the illusion.

<p>This study proposes a semi-voluntarily motion presentation system based on the force applied to the arm swing mechanism in a locomotion interface (LI) that can present arm swing motion in addition to foot motion during walking. It is considered that the device can be operated by using the force of the arm swing even when the user cannot move the foot voluntarily. We performed a comparative experiment of walking with the automatic method and walking with the proposed method. As a result, it was confirmed that there was a difference in the rotation angle of the body, and the usefulness of the semi-automatic LI that moves by swinging the arm was confirmed.</p>

The idMirror project consists of a tablet computer, specially equipped with a small mirror and a newly developed android app. The Android application uses face recognition to detect the location of the user's face in relation to the device and based on this renders a computer graphic at the location of his or her reflection. The goal of the idMirror project setting as a research tool was to make an exploratory study on cultural differences at exhibition venues. For this study, we have analyzed 150 participants' face images aged between 18 and 75; among them, 50 (25 females and 25 males) participants' face images collected in Europe, 50 (25 females and 25 males) participants' face images collected in the USA, and 50 (25 females and 25 males) participants' face images collected in Japan. We found global exhibitions a good research platform for random sampling of the subjects. For the study, we examined the first 50 (25 female and 25 male) participants at each exhibition and we found some significant differences. Through the explanatory study in the form of an art installation, we wanted to learn if the facial expression upon one's own self-observation is a function of gender and place of exhibition setting origin.

Assistive Device Art derives from the integration of Assistive Technology and Art, involving the mediation of sensorimotor functions and perception from both, psychophysical methods and conceptual mechanics of sensory embodiment. This paper describes the concept of ADA and its origins by observing the phenomena that surround the aesthetics of prosthesis-related art. It also analyzes one case study, the Echolocation Headphones, relating its provenience and performance to this new conceptual and psychophysical approach of tool design. This ADA tool is designed to aid human echolocation. They facilitate the experience of sonic vision, as a way of reflecting and learning about the construct of our spatial perception. Echolocation Headphones are a pair of opaque goggles which disable the participant's vision. This device emits a focused sound beam which activates the space with directional acoustic reflection, giving the user the ability to navigate and perceive space through audition. The directional properties of parametric sound provide the participant a focal echo, similar to the focal point of vision. This study analyzes the effectiveness of this wearable sensory extension for aiding auditory spatial location in three experiments; optimal sound type and distance for object location, perceptual resolution by just noticeable difference, and goal-directed spatial navigation for open pathway detection, all conducted at the Virtual Reality Lab of the University of Tsukuba, Japan. The Echolocation Headphones have been designed for a diverse participant base. They have both the potential to aid auditory spatial perception for the visually impaired and to train sighted individuals in gaining human echolocation abilities. Furthermore, this Assistive Device artwork instigates participants to contemplate on the plasticity of their sensorimotor architecture.

Based on the concept of data physicalization, we developed Vital+Morph, an interactive surface for remote connection and awareness of clinical data. It enables users located in remote places to monitor and feel the vital signs measured from a hospitalized person through shape-change. We propose shape-changing interfaces as a way of making data physicalization a richer, intriguing and memorable experience that communicates complex information and insights about data. To demonstrate and validate our proposed concept, we developed an exploratory study about the design and its implications. For evaluating the social impact of shape-changing interfaces in the context of remote monitoring, we presented Vital+Morph in several Media Art festivals. We collected and analyzed the feedback from the visitors during the exhibitions, and discussed the possibilities of the proposed system. A preliminary evaluation shows how shape-changing displays are perceived by users, which establishes not only the potential benefits but also highlights the concerns that several users have raised. Through this study, we aim to contribute to the design of remote monitoring systems by providing a novel approach for displaying clinical data that consider the richness of the physical world. In today's information-driven society, we should not just focus on how abstract data are collected and analyzed, but also on how it can be presented and incorporated into our daily lives.

This paper describes the perceptual characteristics of a sense of a force induced by asymmetric vibration using a vibration speaker-type non-grounded haptic interface. We confirm that the vibration speaker generates a perceived force that pulls or pushes a user's hand in a particular direction when an asymmetric amplitude signal that is generated by inverting a part of a sine wave is input. In this paper, to verify the system with respect to various factors of force perception caused by asymmetric vibration, we conducted six experiments and the following results were obtained. (1) The force vector can be controlled by reversing the asymmetric waves. (2) By investigating the physical characteristics of the vibration, asymmetric vibration was confirmed. (3) The presentation of vibration in the shear direction on the finger pad is effective. (4) The point of subjective equality of the perceived force can be controlled by up to 0.43 N by changing the amplitude voltage of the input signals. (5) The minimum stimulation time required for force perception is 66.7 ms. (6) When the vibration is continuously presented for 40 to 50 s, the perceived force decreases because of adaptation. Hence, we confirmed that we can control both the direction and magnitude of the reaction force by changing the input signal of the vibration speaker.

This paper describes development of a visual and haptic feedback interface by using a direct input touch panel display and 2 Degree-of-Freedom (DOF) indirect haptic interface. In this system, a user should wear no gear on his/her fingertip, and can touch the objects with it. The system consists of a display, a motion tracker, and a 2-DOF haptic interface equipped with a force sensor. The systems measure the position of the fingertip of a user and produce an appropriate horizontal force on the thenar eminence (the group of muscles on the palm of the human hand at the base of the thumb) of the user. Through an evaluation test, it was verified that the effectiveness of the system for perceiving the hardness of virtual object at the fingertip.

<p>Generally, when operating an unmanned aerial vehicle (UAV) in remote places, an operator watches images captured by a camera attached to the UAV and operates them with a controller. However, the operator cannot feel as if he is moving as a UAV. Walking is the most innate locomotion strategy in the real world for us. Therefore, in order to generate feelings as if walking in remote places by his/her own feet, it is sufficient to operate the UAV by using operator's walking motion. In this research, we use a locomotion interface named Torus Treadmill. By using this interface, the operator can walk infinitely to any directions. In addition, since the operator is maintained his/her position on the interface, grounded devices such as haptic devises or medical equipment can be used at the same time. In this study, we developed a prototype system and confirmed that the UAV can arrive to target positions by operating with operator's walking motion.</p>

This document describes the history and future prospects of the Virtual Reality Society ofJapan. The society runs unique events including International collegiate Virtual Reality Contest andqualification tests for VR technology. The load map of VR for 2040 was drawn up in 2013.

This paper presents a system that consists of three robots to imitate the motion of top volleyball blockers. In a volleyball match, in order to score by spiking, it is essential to improve the spike decision rate of each spiker. To increase the spike decision rates, iterative spiking training with actual blockers is required. Therefore, in this study, a block machine system was developed that can be continuously used in an actual practice field to improve attack practice. In order to achieve the required operating speed and mechanical strength each robot has five degrees of freedom. This robot performs high speed movement on 9 m rails that are arranged in parallel with the volleyball net. In addition, an application with a graphical user interface to enable a coach to manipulate these robots was developed. It enables the coach to control block motions and change the parameters such as the robots' positions and operation timing. Through practical use in the practice field, the effectiveness of this system was confirmed.

IrukaTact is an open source assistive underwater glove that translates ultrasonic range finding data into haptic feedback. This paper describes the development of new models for underwater haptic actuation and the ongoing prototype development process necessary for creating this tool. Our objective is to create a system that detects underwater topographies to assist the location of sunken objects in flooded areas by sending haptic signals to wearer's fingertips produced by micro-pumps that propel water of varying pressures. This feedback system extends current haptic technologies by providing hybrid actuation including pressure and vibration underwater, while preserving the wearer's natural ability to grasp objects. This technology has many potential applications beyond underwater echo-haptic location, such as new interfaces for virtual reality object simulation in aqueous environments.

This paper describes a technique for developing an immersive walk-through system that implements a rendering method for superimposing computer graphics onto a panoramic movie in an immersive walk-through system. The system is composed of a locomotion interface and an immersive spherical display. In this study, we analyze the camera path from the movie to stabilize the orientation of the camera for rendering an immersive image. Further, the system superimposes computer graphics (CG) onto the image according to the system coordinates from the movie. We implemented the proposed rendering method to realize a free viewpoint image with the movie and the CG by moving the viewpoint.

This paper proposes a system that enables users to recognize the shapes and textures of remote objects with 1-degree of freedom (DOF) haptic feedback. The system consists of a camera platform and a handheld haptic interface. The platform is equipped with a laser range finder, which can be tilted and panned. The handheld interface can generate a 1-DOF reaction force proportional to the distance measured by using a laser range finder (LRF) on the camera platform. The LRF rotates synchronously according to the translational and rotational motion of the handheld interface. In addition, a stereoscopic display indicates a real-time stereoscopic video image of a remote site captured by a stereo camera.

The ball game robot has attracted considerable research attention in recent years. This paper describes the research and development of a ball game robot based on human physical properties and defensive motion. In particular, we focus on reproducing defensive motion. We will develop a defense robot that can be used in a training field and aim at building an interactive system. Considering the problem of strength and stability control, we attached weight to important operations. Because the arms and hands of the robot were built to imitate human physical properties, the robot can bounce a ball realistically. We conducted a quality assessment experiment to determine whether the robot operations indeed imitate a defensive motion and verified the validity of the experiment.

This paper describes a development of indirect force feedback system, which consists of a mouse pointer, and a 2-degree of freedom (DOF) pantograph haptic interface. The 2DOF interface consists of four-bar linkage, mouse sensor to the pointing, and computer graphics image display. The interface can display only vertical force to a user's hand. This interface separates the pointing area, which is at the fingertip, from force feedback area, which is on the ball of the thumb of the user, even though they are on one point in ordinary haptic interface. It was verified that users could feel as if they were touching virtual objects through an evaluation test.

This paper presents a locomotion interface using torus-shaped treadmill. Traveling on foot is the most intuitive way for locomotion. An infinite surface driven by actuators is an ideal device for creation of sense of walking. The Torus Treadmill employs 14 sets of treadmills. These treadmills are connected side-by-side and driven in perpendicular direction. The effect of infinite surface is generated by the motion of the treadmills. The walker can go in any direction while his/her position remains localized in the real world. The device has modular structure that enables portability for exhibition. It was exhibited in Ars Electronica 2011 in Linz Austria

This paper describes a Pseudo-Haptic rendering method for presenting torsional torques with a haptic interface. The pseudo-haptic torque is calculated based on a motion equation of a virtual object, which includes a viscous resistance when the virtual object is rotated. We have developed a one degree-of-freedom haptic interface equipped with a DC servomotor and a rotary encoder as a prototype system. Through experiments for comparing the pseudo-haptic rendering method, real haptic method, and, combination of these haptic rendering methods, effectiveness of the proposed method was verified.

本研究では,レーザーレンジファインダを搭載した電動雲台を遠隔地に設置し,計測した対象物体までの距離に応じてノブ式1自由度力覚提示装置で反力提示を行うことで,遠隔地にある物体形状を指先で触知覚可能にするシステムを開発した.またシステムの性能を被験者実験や主観アンケートによって評価した.

本研究では、テーブルトップディスプレイ上で用いる1自由度力覚提示装置において、バーチャル物体を触知覚する際に、高低差の大きい段差や垂直に切り立ったバーチャルな壁を触ると不自然な振動が発生する問題があった。そこで、本研究では振動を抑制する方式として、反力強度の絶対値を抑制する方式および力覚イメージを別途用意し視覚の優位性を利用して違和感を無くす方式の2つを開発した。

本研究では、2自由度アンカーレスカ覚提示インタフェースによる可動範囲を超える大きなVR物体の提示手法を提案する。このインタフェースはパンタグラフマニピュレータ、パソコンから成る。パンタグラフマニピュレータはユーザの人差し指を固定する小さな指穴を持ち、直径8cmほどの可動範囲を持つ。装置を机等に固定しないためユーザの手により装置を自由に動かせ、センサーにより装置の移動を検出できる。これにより装置の可動範囲よりも大きな物体を触ることができる。本研究ではプロトタイプシステムを作成し、評価実験としてパンタグラフの可動範囲より大きな物体に触れる実験を行い、その効果について検証した。

This paper describes the development of a gait rehabilitation system with a locomotion interface (LI) for training patients to climb stairs. The LI consists of two 2-DOF manipulators equipped with footpads. These can move the patient's feet while his or her body remains stationary. The footpads follow the prerecorded motion of the feet of healthy individuals. For gait training, the patient progresses sequentially through successively more advanced modes. In this study, two modes, the enforced climbing of stairs and interactive climbing of stairs, were developed. In the interactive mode, foot pressure sensors are used to realize interactive walking. Comparisons were made between the modes for healthy individuals and a patient. The effectiveness of the system was examined using electromyography (EMG) and foot pressure data. © 2012 by the Massachusetts Institute of Technology.

Robot Tile is one of the circulating field types of Locomotion interface which consists of five Omni-directional moveable robots. The user can keep walking in any direction with this device while it is in the place. An immersive projection display named the Rear Dome consists of a spherical rear projection screen and eight projectors. The Rear Dome can project omnidirectional images on the screen. A user can see the omnidirectional image inside the screen. We integrated the Robot Tile and the Rear Dome, and conducted the evaluation experiment.

This paper presents a work carried out for a project to develop a new interactive technique that combines haptic sensation with computer graphics. The project has two goals. The first one is to provide users with a spatially continuous surface on which they can effectively touch an image using any part of their bare hand, including the palm. The second is to present visual and haptic sensation simultaneously by using a single device that doesn't oblige the users to wear any equipment. In order to achieve these goals, we have developed balloon array volumetric haptic display named Volflex. The Volflex, however, has small range of displayed volume. In this paper, we focus on expanding the ability to present varied shape of virtual object from flat surface to volumetric surface. We designed a new volumetric haptic display named Volflex+. It is composed of a group of air balloons controlled by air cylinders. Each air cylinder is attached to a linear actuator so that each balloon is able to move up/down. This configuration drastically expands presented volume..

Device art is a new concept of art that shows essence of technology. Works of device art are often created in bottom-up process. The Device Art Toolkit is a tool for creation of these works. It is intended to achieve usability as well as scalability. The toolkit has modular structure consisting of control modules, input modules, output modules and communication modules. It also has actuator modules. The structure enables easy try-and-error in creation process.

This paper describes the development of a gait rehabilitation system with a locomotion interface (LI) for stair climbing or descending. The LI consists of two 2 DOF manipulators equipped with footpads. These can move the user's feet while his or her body remains stationary. The footpads follow the prerecorded motion of the feet of a healthy individual. For gait training, the user progresses iteratively through successively more advanced modes. In this study, three modes, enforced stair climbing/descending, semi-voluntary stair climbing/descending, and real stair climbing/descending were used. Especially gait trajectories for the stairs climbing/descending were improved to realize valid weight shift motion. Comparisons were made between the modes for healthy individuals and a patient. The effectiveness of the system was examined using EMG and foot pressure data.

This paper reports Deviceart Archive, which the authors has been developing, and qualitative analysis using interview videos with some Deviceart artists and researchers. Deviceart Archive records and presents interview videos in which the artists talked about the concept of their artworks for the exhibition "Deviceart Garelly" at The National Museum of Emerging Science and Innovation (Miraikan), and the videos recorded at Deviceart symposiums. This style is similar to citation system of online academic journal repositories.

This paper reports Deviceart Archive, which the authors has been developing, and qualitative analysis using interview videos with some Deviceart artists and researchers. Deviceart Archive records and presents interview videos in which the artists talked about the concept of their artworks for the exhibition "Deviceart Garelly" at The National Museum of Emerging Science and Innovation (Miraikan), and the videos recorded at Deviceart symposiums. This style is similar to citation system of online academic journal repositories.

This paper describes the development of a gait rehabilitation system using a locomotion interface. The locomotion interface can move a user's feet while it keeps their bodies in the real world. In this study, a locomotion interface was designed for using a hospital. Some conditions were considered in prototype development. The prototype system was placed in a hospital. A half year experiment with 12 hemiplegic patients was conducted in the hospital. And the effectiveness of the system was confirmed.